TireModel Class Reference

Class used to model tires. More...

#include <base_tire_model.hpp>

Inheritance diagram for TireModel:

Collaboration diagram for TireModel:

Public Member Functions
	TireModel (const common_lib::car_parameters::CarParameters &car_parameters)
virtual std::pair< double, double >	tire_forces (double slip_angle, double slip_ratio, double vertical_load) const =0
	Calculate the forces acting in a tire based on the tire characteristics and dynamic state.

Protected Attributes
std::shared_ptr< common_lib::car_parameters::CarParameters >	car_parameters_

Detailed Description

Class used to model tires.

Currently used to model tire forces based on slip.

Definition at line 8 of file base_tire_model.hpp.

Constructor & Destructor Documentation

TireModel()

TireModel::TireModel ( const common_lib::car_parameters::CarParameters &  car_parameters )

inline

Definition at line 13 of file base_tire_model.hpp.

Member Function Documentation

tire_forces()

virtual std::pair< double, double > TireModel::tire_forces ( double  slip_angle, double  slip_ratio, double  vertical_load  ) const

pure virtual

Calculate the forces acting in a tire based on the tire characteristics and dynamic state.

Parameters

slip_angle	Slip angle of the tire in radians
slip_ratio	Slip ratio of the tire
load	Load on the tire in Newtons

Returns

std::pair<double, double> Longitudinal and lateral forces

Implemented in PacejkaCombinedSlip.

Member Data Documentation

car_parameters_

std::shared_ptr<common_lib::car_parameters::CarParameters> TireModel::car_parameters_

protected

Definition at line 10 of file base_tire_model.hpp.

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The documentation for this class was generated from the following file:

• src/motion_lib/include/motion_lib/tire_model/base_tire_model.hpp